Phase tracking self-injection locked radar

Abstract

The phase tracking self-injection locking radar has a self-injection locking oscillator, a phase tracking self-injection locking loop and a frequency locking loop. The self-injection locking oscillator generates an electrical oscillation signal and receives an electrical injection signal to enter a self-injection locking state. The phase tracking self-injection locking loop receives the electrical oscillation signal and outputs the electrical injection signal to the self-injection locking oscillator. The electrical injection signal has a fixed phase difference with the electrical oscillation signal. The frequency locking loop receives the electrical oscillation signal and outputs an electrical control signal to control the phase tracking self-injection locking loop or the self-injection locking oscillator to eliminate the frequency offset caused by the phase tracking self-injection locking loop to the self-injection locking oscillator. Therefore, the phase difference between the electrical oscillation signal and the electrical injection signal is maintained at 0° or 180°, so that the phase tracking self-injection locking radar operates at the optimal detection point.

Description

Technical Field

[0001] This invention relates to a self-injection locking radar, and more particularly to a phase-tracking self-injection locking radar. Background Technology

[0002] Continuous wave Doppler radar is widely used to detect physiological signs in humans and animals. In recent years, self-injection locking radar within continuous wave Doppler radar has gained attention for its excellent sensitivity in detecting physiological signs. However, continuous wave Doppler radar, including self-injection locking radar, exhibits an optimal detection point and a null detection point. These points alternate periodically every eighth of a wavelength, with the strongest and weakest vital signs located at the optimal and null detection points, respectively. Therefore, when the target moves beyond a quarter wavelength, the vital signs measured by traditional continuous wave radar exhibit significant nonlinearity due to the correlation between the vital signs and their detection location. This nonlinearity poses a significant challenge to the detection of vital signs in moving targets using traditional Doppler radar. Summary of the Invention

[0003] The phase-tracking self-injection locking radar of the present invention uses a phase-tracking loop to automatically maintain the relative phase between the radar and the target at the optimal detection point, thus enabling the detection of vital signs of moving targets with high sensitivity and high linearity.

[0004] A phase-tracking self-injection locking radar of the present invention includes a self-injection locking oscillator, a phase-tracking self-injection locking circuit, and a frequency-locking circuit. The self-injection locking oscillator generates an electrical oscillation signal and receives an electrical injection signal to enter a self-injection locking state. The phase-tracking self-injection locking circuit is coupled to the self-injection locking oscillator so that the self-injection locking oscillator receives the electrical oscillation signal and outputs the electrical injection signal to the self-injection locking oscillator. The electrical injection signal and the electrical oscillation signal have a fixed phase difference. The frequency-locking circuit is coupled to the self-injection locking oscillator so that the self-injection locking oscillator receives the electrical oscillation signal and generates an electrical control signal to the phase-tracking self-injection locking circuit or the self-injection locking oscillator to eliminate the frequency offset caused by the phase-tracking self-injection locking circuit to the self-injection locking oscillator. Thus, the phase difference between the electrical oscillation signal and the electrical injection signal is maintained at 0° or 180°, so that the phase-tracking self-injection locking radar operates at the optimal detection point.

[0005] Preferably, the phase-tracking self-injection locking loop has a transmitter, a receiver, a phase shifter, and a target. The transmitter is electrically connected to the self-injection locking oscillator and is used to convert the electrical oscillation signal of the self-injection locking oscillator into a wireless signal and transmit it to the target. The receiver is used to receive the reflected signal reflected by the target and convert it into an electrical injection signal. The phase shifter is electrically connected between the receiver and the self-injection locking oscillator and is used to phase-shift the electrical injection signal and inject the electrical injection signal into the self-injection locking oscillator.

[0006] Preferably, the transmitter and the receiver are electromagnetic wave antennas, acoustic wave sensors, or optical transceivers.

[0007] Preferably, the frequency-locked loop has a frequency demodulator and a controller. The frequency demodulator is electrically connected to the self-injected locked oscillator and is used to demodulate the electrical oscillation signal of the self-injected locked oscillator into an electrical frequency offset signal. The controller is electrically connected to the frequency demodulator and is used to generate an electrical control signal based on the electrical frequency offset signal of the frequency demodulator. The electrical control signal is used to control the phase shift of the phase shifter on the electrical injection signal, so that the phase difference between the electrical oscillation signal and the electrical injection signal is 0° or 180°, so as to eliminate the frequency offset caused by the phase tracking self-injected locked loop on the self-injected locked oscillator.

[0008] Preferably, the steady-state relationship between the electrical control signal of the controller and the electrical frequency offset signal of the frequency demodulator is as follows:

[0009]

[0010] Among them, V c For this electrical control signal, K θ Let λ be the phase adjustment sensitivity of the phase shifter, λ be the wavelength of the wireless signal, and Δx be the relative displacement of the target.

[0011] Preferably, the self-injected lock oscillator has an output port and an injection port. The output port is used to output the electrical oscillation signal to the phase-tracking self-injected lock loop and the frequency-locked loop. The injection port is used to receive the electrical injection signal by the phase shifter of the phase-tracking self-injected lock loop.

[0012] Preferably, the frequency demodulator includes a power divider, a delay unit, and a mixer. The power divider is electrically connected to the output port of the self-injection locked oscillator and is used to split the electrical oscillation signal into two paths. The delay unit is electrically connected to the power divider and is used to delay the electrical oscillation signal of one path of the power divider into an electrical delay signal. The mixer is electrically connected to the power divider and the delay unit and is used to mix the electrical oscillation signal of the other path of the power divider and the delayed signal to generate an electrical frequency offset signal.

[0013] Preferably, the phase-tracking self-injection locking loop has a transmitter, a receiver, and a target. The transmitter is electrically connected to the self-injection locking oscillator and is used to convert the electrical oscillation signal of the self-injection locking oscillator into a wireless signal and transmit it to the target. The receiver is used to receive the reflected signal reflected by the target, convert it into an electrical injection signal, and inject the electrical injection signal into the self-injection locking oscillator.

[0014] Preferably, the transmitter and the receiver are electromagnetic wave antennas, acoustic wave sensors, or optical transceivers.

[0015] Preferably, the frequency-locked loop has a frequency demodulator and a controller. The frequency demodulator is electrically connected to the self-injected locked oscillator and is used to demodulate the electrical oscillation signal of the self-injected locked oscillator into an electrical frequency offset signal. The controller is electrically connected to the frequency demodulator and is used to generate an electrical control signal based on the electrical frequency offset signal of the frequency demodulator and transmit it to the self-injected locked oscillator. The electrical control signal is used to control the self-injected locked oscillator to offset the frequency of the electrical oscillation signal, so that the phase difference between the electrical oscillation signal and the electrical injection signal is 0° or 180°, so as to eliminate the frequency offset caused by the phase tracking self-injected locked loop to the self-injected locked oscillator.

[0016] Preferably, the steady-state relationship between the electrical control signal of the controller and the electrical frequency offset signal of the frequency demodulator is as follows:

[0017]

[0018] Among them, V c For this electrical control signal, K v The frequency adjustment sensitivity of the self-injected locking oscillator is given by f0, the initial frequency of the self-injected locking oscillator is given by d, the initial frequency of the target to the transmitter or receiver is given by Δx, and the relative displacement of the target is given by Δx.

[0019] Preferably, the self-injection locked oscillator has an output port, an injection port and a frequency control port. The output port is used to output the electrical oscillation signal to the phase tracking self-injection locked circuit and the frequency locking circuit. The injection port is used to receive the electrical injection signal by the phase tracking self-injection locked circuit. The frequency control port is used to receive the electrical control signal by the controller.

[0020] Preferably, the frequency demodulator includes a power divider, a delay unit, and a mixer. The power divider is electrically connected to the output port of the self-injection locked oscillator and is used to split the electrical oscillation signal into two paths. The delay unit is electrically connected to the power divider and is used to delay the electrical oscillation signal of one path of the power divider into an electrical delay signal. The mixer is electrically connected to the power divider and the delay unit and is used to mix the electrical oscillation signal of the other path of the power divider and the delayed signal to generate an electrical frequency offset signal.

[0021] The difference between the phase-tracking self-injection locking radar of the present invention and the conventional self-injection locking radar is that it has the phase-tracking self-injection locking circuit and the frequency locking circuit, which enables it to operate at the optimal detection point. As a result, the sensitivity and linearity of the phase-tracking self-injection locking radar for detecting vital signs can be significantly improved compared to the conventional self-injection locking radar. Therefore, the present invention can be used to detect vital signs of targets whose displacement exceeds one-quarter wavelength. Attached Figure Description

[0022] Figure 1 According to a first embodiment of the present invention, a block diagram of a phase tracking self-injection locking radar is provided.

[0023] Figure 2 According to a first embodiment of the present invention, a circuit diagram of a phase tracking self-injection locking radar is provided.

[0024] Figure 3 According to the first embodiment of the present invention, a circuit diagram of a frequency demodulator is provided.

[0025] Figure 4 According to a second embodiment of the present invention, a circuit diagram of a phase tracking self-injection locking radar is provided.

[0026] Figure 5 The displacement waveform of a moving target actually measured using the phase tracking self-injection locking radar of the first embodiment of the present invention.

[0027] Figure 6 : Figure 5 The spectrum of the measurement data.

[0028] [Explanation of Key Component Symbols]

[0029] 100: Phase-tracking self-injection locking radar; 110: Self-injection locking oscillator

[0030] 111: Output port; 112: Injection port

[0031] 113: Frequency control port; 120: Phase tracking self-injection lock-in loop

[0032] 121: Transmitter 122: Receiver

[0033] 123: Phase shifter 124: Target

[0034] 130: Frequency locking circuit; 131: Frequency demodulator

[0035] 131a: Power divider; 131b: Delay unit

[0036] 131c: Mixer; 132: Controller

[0037] S osc Electrical oscillation signal S inj Electrical injection signal

[0038] S w Wireless signal S r : reflected signal

[0039] Δf: Electrical frequency offset signal V c Electrical control signal

[0040] S de Electrical delay signal Δx: relative displacement Detailed Implementation

[0041] Please see Figure 1 This is a block diagram of the phase-tracking self-injection locking radar 100 of the present invention. The phase-tracking self-injection locking radar 100 includes a self-injection locking oscillator 110, a phase-tracking self-injection locking circuit 120, and a frequency-locking circuit 130. The self-injection locking oscillator 110 generates an electrical oscillation signal S. osc And receive the electrical injection signal S inj It then enters a self-injection locked state. The phase-tracking self-injection locked circuit 120 is coupled to the self-injection locked oscillator 110 so that the self-injection locked oscillator 110 receives the electrical oscillation signal S. osc And output the electrical injection signal S inj The electrical injection signal S is injected into the self-injected locked oscillator 110. inj With the electrical oscillation signal S osc There is a fixed phase difference between them. The frequency-locked circuit 130 is coupled to the self-injected locked oscillator 110 to receive the electrical oscillation signal S. oscAnd process it to output an electrical control signal V c To control the phase-tracking self-injection locked circuit 120 or the self-injection locked oscillator 110, so as to eliminate the frequency shift caused by the phase-tracking self-injection locked circuit 120 to the self-injection locked oscillator 110, thereby, the electrical oscillation signal S osc and the electrical injection signal S inj The phase difference between them is maintained at 0° or 180°, so that the phase tracking self-injection locking radar 100 operates at the optimal detection point.

[0042] Please see Figure 2 This is a circuit diagram of a phase-tracking self-injection locking radar 100 according to a first embodiment of the present invention. In this embodiment, the self-injection locking oscillator 110 has an output port 111 and an injection port 112. The output port 111 is used to output the electrical oscillation signal S. osc The phase-tracking self-injection locking circuit 120 and the frequency-locking circuit 130 are connected, and the injection port 112 is used to receive the electrical injection signal S by the phase-tracking self-injection locking circuit 120. inj The electrical injection signal S inj This causes the self-injected locked oscillator 110 to enter a self-injected locked state.

[0043] The phase-tracking self-injection locked loop 120 has a transmitter 121, a receiver 122, a phase shifter 123, and a target 124. The transmitter 121 is electrically connected to the self-injection locked oscillator 110 to transmit the electrical oscillation signal S of the self-injection locked oscillator 110. osc Converted to wireless signal S w The signal is transmitted to the target 124, and the receiver 122 receives the reflected signal S from the target 124. r And converted into an electro-injection signal S inj The wireless signal S w and the reflected signal S r They are in the same energy form, such as electromagnetic waves, sound waves, or light waves.

[0044] The phase shifter 123 is electrically connected between the receiver 122 and the self-injected locked oscillator 110 and is used to phase shift the electrically injected signal S. inj And inject the electrical signal S inj The self-injected locked oscillator 110 is injected, causing it to enter a self-injected locked state. When a relative displacement Δx occurs between the target 124 and the transmitter 121 or the receiver 122, the electrically injected signal S... inj This will be due to the reflected signal S rThe relative displacement Δx is subject to the Doppler effect, resulting in a Doppler phase shift. Therefore, the phase-tracking self-injection lock-in loop 120 causes the self-injection lock-in oscillator 110 to oscillate due to the electrical oscillation signal S. osc and the electrical injection signal S inj The frequency change is caused by the phase difference between them.

[0045] The transmitter 121 and the receiver 122 can be electromagnetic wave antennas, acoustic wave sensors, or optical transceivers to respectively convert electrical signals into electromagnetic waves, acoustic waves, or optical waves. The transmitter 121 and the receiver 122 may also include amplifiers and frequency converters to process the electrical oscillation signal S. osc and the electrical injection signal S inj Amplification and frequency conversion. Furthermore, the transmitter 121 and the receiver 122 may also include a digital-to-analog converter and an analog-to-digital converter, enabling the electrical oscillation signal S to... osc and the electrical injection signal S inj It can be implemented as a digital signal.

[0046] Please see Figure 2 The frequency-locked loop 130 includes a frequency demodulator 131 and a controller 132. The frequency demodulator 131 is electrically connected to the self-injected locked oscillator 110 to demodulate the electrical oscillation signal S of the self-injected locked oscillator 110. osc The frequency offset signal Δf is used. The controller 123 is electrically connected to the frequency demodulator 131 to generate an electrical control signal V based on the frequency offset signal Δf. c To the phase shifter 123, the electrical control signal V c The electrical injection signal S is used to control the phase shift of the phase shifter 123. inj This causes the electrical oscillation signal S to... osc and the electrical injection signal S inj The phase difference between them is 0° or 180° to eliminate the frequency offset caused by the phase tracking self-injection lock loop 120 to the self-injection lock oscillator 110.

[0047] Please see Figure 3 In this embodiment, the frequency demodulator 131 includes a power divider 131a, a delay unit 131b, and a mixer 131c. The power divider 131a is electrically connected to the output port 111 of the self-injected locked oscillator 110 and is used to convert the electrical oscillation signal S... osc It is divided into two paths. The delay unit 131b is electrically connected to the power divider 131a to delay the electrical oscillation signal S of one of the paths of the power divider 131a. osc Electrical delay signal S deThe mixer 131c is electrically connected to the power divider 131a and the delay unit 131b to transmit the electrical oscillation signal S from another path of the power divider 131a. osc and the delayed signal S de The electrical frequency offset signal Δf is generated by mixing.

[0048] The relationship between the relative displacement Δx of target 124 and the electrical frequency offset signal Δf is as follows:

[0049]

[0050] Among them, f LR θ represents the locking range of the self-injected locked oscillator 110. d The electrical oscillation signal S osc and the electrical injection signal S inj The phase difference between them, θ p The phase shift provided by the phase shifter 123, d is the initial distance between the target 124 and the transmitter 121 or the receiver 122, and λ is the wireless signal S. w The above equation shows the wavelength of the electrically injected signal S. inj and the electrical oscillation signal S osc The phase difference between them can be set to 0° or 180° (i.e., θ) after the frequency offset of the self-injected locked oscillator 110 is eliminated. d =2nπornπ, where n is an integer). Therefore, the electrical control signal V c In steady state, it can be expressed as:

[0051]

[0052] Where Δθ is the change in phase displacement provided by the phase shifter 123, and K θ This is the phase adjustment sensitivity of the phase shifter 123. From the above formula, it can be seen that the electrical control signal V output by the controller 132... c Proportional to the relative displacement Δx of the target 124, if the target 124 is a human or an animal, the relative displacement Δx contains the vital signs information of the target 124.

[0053] The phase shifter 123 can be set at other locations in the phase tracking self-injection locking loop 120, and for the electrical oscillation signal S osc Or the electrical injection signal S inj Perform a phase shift to make the electrical oscillation signal S osc and the electrical injection signal S inj The phase difference between them is fixed at 0° or 180°.

[0054] Please see Figure 4 This is a second embodiment of the phase-tracking self-injection locking radar 100 of the present invention. In this embodiment, the self-injection locking oscillator 110 further has a frequency control port 113. The phase-tracking self-injection locking oscillator 120 also includes the transmitter 121, the receiver 122, and the target 124, but does not include the phase shifter 123. The transmitter 121 is electrically connected to the self-injection locking oscillator 110 to transmit the electrical oscillation signal S of the self-injection locking oscillator 110. osc Converted to wireless signal S w And transmit to the target 124, the receiver 122 receives the reflected signal S reflected by the target 124. r Converted to the electrical injection signal S inj And inject the self-injected locked oscillator 110.

[0055] Please see Figure 4 The frequency-locked loop 130 includes a frequency demodulator and a controller. The frequency demodulator 131 is electrically connected to the self-injected locked oscillator 110 to demodulate the electrical oscillation signal S of the self-injected locked oscillator 110. osc The controller 132 is electrically connected to the frequency demodulator 131 to generate the electrical control signal V based on the electrical frequency offset signal Δf from the frequency demodulator 131. c and the electrical control signal V c The frequency control signal V is transmitted to the frequency control port 113 of the self-injected locking oscillator 110. To ensure the phase-tracking self-injected locking radar 100 operates at the optimal detection point, the electrical control signal V... c Control the self-injected locked oscillator 110 to offset the frequency of the electrical oscillation signal S osc This causes the electrical oscillation signal S to... osc and the electrical injection signal S inj The phase difference between them is fixed at 0° or 180°, thus eliminating the electrical frequency offset signal Δf. In this way, the electrical control signal V in steady state... c It can be represented as:

[0056]

[0057] Among them, f0 and K v These represent the initial frequency and frequency adjustment sensitivity of the self-injected locked oscillator 110, respectively, with the positive and negative signs corresponding to the electrical oscillation signal S. osc and the electrical injection signal S inj The phase difference between them is 0° or 180°. From the above formula, it can be seen that the electrical control signal V... cThe relative displacement Δx of the target 124 is proportional to the target's relative displacement Δx. If the target is a human or an animal, then the relative displacement Δx contains information about the target's vital signs.

[0058] Please see Figure 5 This refers to the result of the phase-tracking self-injection locking radar 100 of the first embodiment of the present invention detecting a seated human body located 30cm in front of the radar. The wireless signal S emitted by the phase-tracking self-injection locking radar 100 is... w It is an ultrasound with a frequency of 40kHz and a wavelength of 8.6mm. Figure 5 The measurement results included small forward and backward body displacements and subtle displacements caused by vital signs. Figure 6 for Figure 5 The spectrum of the measurement data shows that the arrows indicate the respiratory displacement of 0.21 Hz (12.6 times per minute), the body displacement of 0.58 Hz (34.8 times per minute), and the heart rate displacement of 1.42 Hz (85.2 times per minute). In addition, the amplitude of the nonlinear artifact caused by the body displacement of 4.5 mm (0.52λ) is very low and does not obscure the displacement of vital signs. This result confirms that the phase tracking self-injection locking radar 100 of this embodiment can overcome the nonlinearity caused by body movement and is therefore suitable for detecting the vital signs of moving organisms.

[0059] The phase-tracking self-injection locking radar 100 of the present invention differs from conventional self-injection locking radar in that it has a phase-tracking self-injection locking circuit 120 and a frequency-locking circuit 130, which enables it to operate at the optimal detection point. As a result, the sensitivity and linearity of the phase-tracking self-injection locking radar 100 in detecting vital signs can be significantly improved compared to conventional self-injection locking radar. Therefore, the present invention can be used to detect vital signs of targets 124 whose displacement exceeds one-quarter wavelength.

[0060] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A phase-tracking self-injection locking radar, characterized in that, It includes: A self-injection locked oscillator is used to generate an electrical oscillation signal and receive an electrical injection signal to enter a self-injection locked state. A phase-tracking self-injection-locked loop is coupled to the self-injection-locked oscillator (SILO) to receive the electrical oscillation signal and output the electrical injection signal to the SILO, wherein the electrical injection signal and the electrical oscillation signal have a fixed phase difference; and A frequency-locked loop is coupled to the self-injected locking oscillator so that the self-injected locking oscillator receives the electrical oscillation signal and generates an electrical control signal to the phase-tracking self-injected locking loop or the self-injected locking oscillator, thereby eliminating the frequency offset caused by the phase-tracking self-injected locking loop to the self-injected locking oscillator. In this way, the phase difference between the electrical oscillation signal and the electrical injection signal is maintained at 0° or 180°, so that the phase-tracking self-injected locking radar operates at the optimal detection point.

2. The phase-tracking self-injection locking radar according to claim 1, characterized in that, The phase-tracking self-injection locking loop includes a transmitter, a receiver, a phase shifter, and a target. The transmitter is electrically connected to the self-injection locking oscillator and is used to convert the electrical oscillation signal of the self-injection locking oscillator into a wireless signal and transmit it to the target. The receiver is used to receive the reflected signal reflected by the target and convert it into an electrical injection signal. The phase shifter is electrically connected between the receiver and the self-injection locking oscillator and is used to phase-shift the electrical injection signal and inject the electrical injection signal into the self-injection locking oscillator.

3. The phase-tracking self-injection locking radar according to claim 2, characterized in that, The transmitter and receiver are electromagnetic wave antennas, acoustic wave sensors, or optical transceivers.

4. The phase-tracking self-injection locking radar according to claim 2, characterized in that, The frequency-locked loop has a frequency demodulator and a controller. The frequency demodulator is electrically connected to the self-injected locked oscillator and is used to demodulate the electrical oscillation signal of the self-injected locked oscillator into an electrical frequency offset signal. The controller is electrically connected to the frequency demodulator and is used to generate an electrical control signal based on the electrical frequency offset signal of the frequency demodulator. The electrical control signal is used to control the phase shift of the phase shifter on the electrical injection signal, so that the phase difference between the electrical oscillation signal and the electrical injection signal is 0° or 180°, so as to eliminate the frequency offset caused by the phase tracking self-injected locked loop on the self-injected locked oscillator.

5. The phase-tracking self-injection locking radar according to claim 4, characterized in that, The steady-state relationship between the electrical control signal of the controller and the electrical frequency offset signal of the frequency demodulator is as follows: Among them, V c For this electrical control signal, K θ Let λ be the phase adjustment sensitivity of the phase shifter, λ be the wavelength of the wireless signal, and Δx be the relative displacement of the target.

6. The phase-tracking self-injection locking radar according to claim 4, characterized in that, The self-injection locked oscillator has an output port and an injection port. The output port is used to output the electrical oscillation signal to the phase tracking self-injection locked circuit and the frequency locking circuit. The injection port is used for the phase shifter of the phase tracking self-injection locked circuit to receive the electrical injection signal.

7. The phase-tracking self-injection locking radar according to claim 6, characterized in that, The frequency demodulator includes a power divider, a delay unit, and a mixer. The power divider is electrically connected to the output port of the self-injection locked oscillator and is used to split the electrical oscillation signal into two paths. The delay unit is electrically connected to the power divider and is used to delay the electrical oscillation signal of one path of the power divider into an electrical delay signal. The mixer is electrically connected to the power divider and the delay unit and is used to mix the electrical oscillation signal and the delay signal of the other path of the power divider to generate an electrical frequency offset signal.

8. The phase-tracking self-injection locking radar according to claim 1, characterized in that, The phase-tracking self-injection locking loop has a transmitter, a receiver, and a target. The transmitter is electrically connected to the self-injection locking oscillator and is used to convert the electrical oscillation signal of the self-injection locking oscillator into a wireless signal and transmit it to the target. The receiver is used to receive the reflected signal reflected by the target, convert it into an electrical injection signal, and inject the electrical injection signal into the self-injection locking oscillator.

9. The phase-tracking self-injection locking radar according to claim 8, characterized in that, The transmitter and receiver are electromagnetic wave antennas, acoustic wave sensors, or optical transceivers.

10. The phase-tracking self-injection locking radar according to claim 8, characterized in that, The frequency-locked loop has a frequency demodulator and a controller. The frequency demodulator is electrically connected to the self-injected locked oscillator and is used to demodulate the electrical oscillation signal of the self-injected locked oscillator into an electrical frequency offset signal. The controller is electrically connected to the frequency demodulator and is used to generate an electrical control signal based on the electrical frequency offset signal of the frequency demodulator and transmit it to the self-injected locked oscillator. The electrical control signal is used to control the self-injected locked oscillator to offset the frequency of the electrical oscillation signal, so that the phase difference between the electrical oscillation signal and the electrical injection signal is 0° or 180°, so as to eliminate the frequency offset caused by the phase tracking self-injected locked loop to the self-injected locked oscillator.

11. The phase-tracking self-injection locking radar according to claim 10, characterized in that, The steady-state relationship between the electrical control signal of the controller and the electrical frequency offset signal of the frequency demodulator is as follows: Among them, V c For this electrical control signal, K v The frequency adjustment sensitivity of the self-injected locking oscillator is given by f0, the initial frequency of the self-injected locking oscillator is given by d, the initial frequency of the target to the transmitter or receiver is given by Δx, and the relative displacement of the target is given by Δx.

12. The phase-tracking self-injection locking radar according to claim 10, characterized in that, The self-injection locked oscillator has an output port, an injection port, and a frequency control port. The output port is used to output the electrical oscillation signal to the phase tracking self-injection locked circuit and the frequency locking circuit. The injection port is used to receive the electrical injection signal by the phase tracking self-injection locked circuit. The frequency control port is used to receive the electrical control signal by the controller.

13. The phase-tracking self-injection locking radar according to claim 12, characterized in that, The frequency demodulator includes a power divider, a delay unit, and a mixer. The power divider is electrically connected to the output port of the self-injection locked oscillator and is used to split the electrical oscillation signal into two paths. The delay unit is electrically connected to the power divider and is used to delay the electrical oscillation signal of one path of the power divider into an electrical delay signal. The mixer is electrically connected to the power divider and the delay unit and is used to mix the electrical oscillation signal and the delay signal of the other path of the power divider to generate an electrical frequency offset signal.

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